// Copyright (c) 2008, Willow Garage, Inc.
// Copyright (c) 2018, Bosch Software Innovations GmbH.
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__GRID_CELLS__GRID_CELLS_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__GRID_CELLS__GRID_CELLS_DISPLAY_HPP_

#include <memory>

#include "nav_msgs/msg/grid_cells.hpp"
#include "nav_msgs/msg/map_meta_data.hpp"

#include "rviz_common/display.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_common/display_context.hpp"

#include "rviz_default_plugins/visibility_control.hpp"

namespace rviz_rendering
{
class PointCloud;
}

namespace rviz_common
{
namespace properties
{
class ColorProperty;
class FloatProperty;
}  // properties
}  // rviz_common

namespace rviz_default_plugins
{
namespace displays
{

// TODO(Martin-Idel-SI): This display previously used tf message filter. Use again once available.
/**
 * \class GridCellsDisplay
 * \brief Displays a nav_msgs::GridCells message
 */
class RVIZ_DEFAULT_PLUGINS_PUBLIC GridCellsDisplay : public
  rviz_common::MessageFilterDisplay<nav_msgs::msg::GridCells>
{
  Q_OBJECT

public:
  // TODO(Martin-Idel-SI): Constructor for testing. Remove once ros nodes can be mocked and
  // initialize() can be called
  explicit GridCellsDisplay(rviz_common::DisplayContext * display_context);

  GridCellsDisplay();

  ~GridCellsDisplay() override;

  void onInitialize() override;

  void processMessage(nav_msgs::msg::GridCells::ConstSharedPtr msg) override;

  void setupCloud();

private Q_SLOTS:
  void updateAlpha();
  void updateColor();

private:
  bool messageIsValid(nav_msgs::msg::GridCells::ConstSharedPtr msg);
  void convertMessageToCloud(nav_msgs::msg::GridCells::ConstSharedPtr msg);
  bool setTransform(std_msgs::msg::Header const & header);

  std::shared_ptr<rviz_rendering::PointCloud> cloud_;

  rviz_common::properties::ColorProperty * color_property_;
  rviz_common::properties::FloatProperty * alpha_property_;

  uint64_t last_frame_count_;
};

}  // namespace displays
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__GRID_CELLS__GRID_CELLS_DISPLAY_HPP_
